A Magnetic Vector Aided Calibration Method for MEMS Gyroscope

In this paper, a MEMS gyroscope calibration method based on the recursive least squares (RLS) method using magnetometer measurements is proposed. Without external auxiliary equipment, all the parameters in the gyroscope error model are estimated. Firstly, the triaxial magnetometers are calibrated by the Maximum Likelihood (ML) method. The measurement errors of magnetometer are weakened effectively after calibration. Secondly, based on the principle that the derivative of the magnetic vector can be expressed by the angular velocity and the magnetic vector, the relationship between gyroscope and magnetometer can be modeled. Finally, the RLS method is used to estimate the parameters, which are constructed by the constant bias, scale factor, and nonorthogonal coefficient of the MEMS gyroscope. Simulation and experimental tests are shown that the proposed method has the advantages of low cost, simple operation, and high accuracy. It is applicable for most consumer-grade MEMS inertial measurement units (9DOF) when there is no other auxiliary equipment.